class Actuator:
    def __init__(self, controller, vars, numBits):
        self.controller = controller
        self.numBits = numBits
        self.bits = [0 for i in range(self.numBits)]
        
        self.agent = self.controller.searchAncestors("type","calm.agent")
        assert self.agent, "controllers must be children of an agent"
        
        self.__dict__.update(vars)
        
    def acceptBits(self, bits, dtime):
        pass